#include "DM/J4310.h"

#include <thread>

int main() {
    const auto j4310 = std::make_unique<MM::J4310>("can0", 0x51, 0x50, "test", true, true);
    j4310->control(MM::J4310Enable{});
    std::this_thread::sleep_for(std::chrono::seconds(2));

    j4310->control(MM::J4310ZeroPosition{});
    std::this_thread::sleep_for(std::chrono::seconds(2));

    j4310->control(MM::J4310PosVelControl{3.14, 3.14f});
    std::this_thread::sleep_for(std::chrono::seconds(5));

    j4310->control(MM::J4310Disable{});
    std::this_thread::sleep_for(std::chrono::seconds(2));
}
